Yup, my buddy did on his RS4, the same program I did on my S4:
Buy Curt hitch
Cut off little 1.25" hitch that hangs below cross bar
Weld on big 2" hitch above cross bar
Install
Cut honeycomb valence for hitch to stick through
Looks super pro
not sure what they’re rated for towing though? we only use ours for bike racks
mine sucks - the gorillas who installed it drilled about 5 too many holes in the spare tire well, and it’s super flexible
my buddies on his RS4 is awesome, had it done by a trailer shop